homogeneous_rotation_y Function

public pure function homogeneous_rotation_y(angle) result(rst)

Constructs the 4-by-4 homogeneous transformation matrix describing a rotation about a y-axis.

$$\textbf{R}_y = \left[ \begin{matrix} \cos{\theta_y} & 0 & \sin{\theta_y} & 0 \\ 0 & 1 & 0 & 0 \\ -\sin{\theta_y} & 0 & \cos{\theta_y} & 0 \\ 0 & 0 & 0 & 1 \\ \end{matrix} \right]$$

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=real64),	intent(in)			::	angle	The rotation angle, in radians.

Return Value real(kind=real64), (4,4)

The resulting 4-by-4 matrix.

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